Systems and methods for determining a location of a user when using an imaging device in an indoor facility

ABSTRACT

The present disclosure is generally directed to obtaining location information of a person or a machine when the person or machine uses an imaging device to capture an image of one or more objects located in an indoor facility. The location information can be obtained by processing the captured image in conjunction with a reference map and/or a database. The reference map can be generated by using one or more reference images of the various objects in the indoor facility. The database can contain information such as a location, a dimension, and an orientation of each of the various objects in the indoor facility. The location information can also be obtained by processing the captured image to examine encoded data content in a label and/or an imaging distortion present in the label. The labels, which can be barcode labels, are affixed to various object in the indoor facility.

FIELD OF THE INVENTION

The present invention generally relates to location systems and more particularly relates to systems and methods for determining a location of a user when using an imaging device in an indoor facility.

BACKGROUND

Standalone cameras have been supplemented to a large extent by various other devices such as smartphones and tablet computers that are now capable of not only capturing images but providing certain types of information pertaining to the captured images as well. For example, a smartphone can be used to not only capture an image but to also use global positioning system (GPS) technology to identify an object in the captured image. The object can be an iconic structure such as the White House or the Eiffel Tower for example, and the smartphone can automatically identify these structures based on GPS location information of the smartphone when the image is being captured. However, GPS signals often fail to penetrate buildings and can therefore not be used as a reliable means to obtain positioning coordinates and information pertaining to some indoor objects. Consequently, a need exists to provide location systems that can operate in various environments in a reliable manner.

SUMMARY

Accordingly, in one aspect, the present disclosure embraces a method that includes generating at least one of a reference map or a database, the reference map comprising one or more reference images of a plurality of objects located in an indoor facility, the at least one of the reference map or the database providing information about one or more of a location, a dimension, and an orientation of one or more of the plurality of objects located in the indoor facility. The method further includes using an imaging device to capture a first image, the first image comprising a first object among the plurality of objects located in the indoor facility, and also includes processing the first image in cooperation with the at least one of the reference map or the database to determine a first location of a user of the imaging device or a machine incorporating the imaging device when the imaging device is used to capture the first image in the indoor facility.

In another aspect, the present disclosure pertains to a method that includes using an imaging device to capture an image of at least a first object among a plurality of objects located in an indoor facility. The method further includes processing the image in cooperation with at least one of a reference map or a database, the reference map comprising one or more reference images of the plurality of objects located in the indoor facility, the database containing information about one or more of a location, a dimension, and an orientation of each of the plurality of objects located in the indoor facility. The method also includes determining a location of a user of the imaging device or a machine using the imaging device, based on the processing.

In yet another aspect, the present disclosure pertains to a method that includes generating information indicative of at least one of a location, a dimension, or a placement attribute of each of a plurality of objects located in an indoor facility; using an imaging device to capture an image of at least a first object among the plurality of objects located in the indoor facility; processing the image to identify at least one of a distance, an orientation, or an angular offset of the imaging device with respect to the at least the first object; and using the at least one of the distance, the orientation, or the angular offset to determine a location of one of a user of the imaging device or a machine incorporating the imaging device, when the imaging device is used to capture the image of the at least the first object in the indoor facility.

The foregoing illustrative summary, as well as other exemplary objectives and/or advantages described in this disclosure, and the manner in which the same are accomplished, are further explained within the following detailed description and its accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically depicts an exemplary imaging device being used in accordance with an embodiment of the disclosure to generate a reference map and/or a database pertaining to a number of objects located inside an indoor facility.

FIG. 2 schematically depicts a user of an exemplary imaging device when using the imaging device in accordance with an embodiment of the disclosure.

FIG. 3 schematically depicts an exemplary imaging device being used in accordance with the disclosure to capture one or more images of labels placed upon various objects arranged inside the indoor facility in a first exemplary arrangement.

FIG. 4 schematically depicts a user using an imaging device in accordance with the disclosure to capture one or more images of labels placed upon various objects arranged inside the indoor facility in a second exemplary arrangement.

FIGS. 5A-5E schematically depict some exemplary distortions in captured images of a label in accordance with the disclosure.

FIG. 6 schematically depicts an exemplary user location system that can be located in an imaging device and/or in a cloud device communicatively coupled to the imaging device.

DETAILED DESCRIPTION

Throughout this description, embodiments and variations are described for the purpose of illustrating uses and implementations of inventive concepts. The illustrative description should be understood as presenting examples of inventive concepts, rather than as limiting the scope of the concepts as disclosed herein. Towards this end, certain words and terms are used herein solely for convenience and such words and terms should be broadly understood as encompassing various objects and actions that are generally understood in various forms and equivalencies by persons of ordinary skill in the art. For example, words such as “location,” “placement,” “label,” “imaging device,” “user,” “person,” “machine,” and “database,” can have various interpretations, and certain operations associated with such words can be implemented in different ways without detracting from the spirit of the disclosure. It should also be understood that the words “person” and “user” as used herein can apply equally well to a machine in many instances. For example, when the description indicates certain actions executed by a person, it should be understood that these actions may be executed in some instances by a machine (a robot, for example). It should also be understood that the word “example” as used herein is intended to be non-exclusionary and non-limiting in nature. More particularly, the word “exemplary” as used herein indicates one among several examples and it should be understood that no special emphasis, exclusivity, or preference, is associated or implied by the use of this word.

The present disclosure is generally directed to a user location system that can be used to obtain location information of a user of an imaging device (or a machine that uses an imaging device) when the imaging device is used to capture one or more images of objects located in an indoor facility. The location information can be obtained by processing the captured image in conjunction with a reference map and/or a database. The reference map can be generated by using from one or more reference images that provide location information of the various objects in the indoor facility. The database can contain information such as a location, a dimension, and an orientation of the various objects in the indoor facility. The location information can also be obtained by processing one or more labels in the captured image. The labels, such as barcode labels, are affixed to the various objects. In some implementations, a label can contain embedded data that provides the location information. In some other implementations, a distortion in the image of a label can be used to determine the location of an object on which the label is located. The user location system can be installed in various devices, such as a smartphone, a tablet computer, a machine incorporating an imaging system, and/or a server computer. Some examples of a machine that can use an imaging system in accordance with the disclosure include a drone, a robot, or a vehicle (automated or driven by a person).

Attention is now drawn to FIG. 1, which schematically depicts an exemplary imaging device 105 being used in accordance with an embodiment of the disclosure to generate a reference map (and/or a database) pertaining to a number of objects located inside an indoor facility 100. The imaging device 105 can be any device that incorporates a camera, such as for example, a digital single-lens reflex (DSLR) camera, a video camera, a smartphone, or a tablet computer. The indoor facility 100 can be any building such as for example, a warehouse, a factory floor, a residence, a commercial establishment, or an office. The various objects can be items such as boxes, crates, parcels, books, household objects, or machinery parts, and can be moved and arranged in various ways such as on shelves, racks, pallets, or tabletops. The various objects can also include various fixtures and fixed objects located in the indoor facility 100. Such fixed objects can include for example, a pillar 155, a room 160, a window 170, and a door 165.

The imaging device 105 can be used by a person (not shown) to capture a number of reference images of the various objects, from various locations in the indoor facility 100. The reference images can then be used to generate a reference map of the various objects located in the indoor facility 100. For example, a first reference image can be captured by the person when standing at a first position next to the room 160 and pointing the imaging device 105 towards a first set of objects. The various line-of-sight visibility paths for the imaging device 105 from this first position to some of the objects located in the indoor facility 100 are indicated by dashed lines extending from the imaging device 105 to object 130, object 150, and object 145. Though not indicated by dashed lines, the imaging device 105 also has line-of-sight visibility paths from this first position to object 110, object 125, and object 140. Consequently, the first reference image includes images of object 110, object 125, object 140, object 130, object 150, and object 145. However, the first reference image does not include images of some other objects such as object 115, object 120, and object 135 due to the presence of intervening objects that block line-of-sight visibility to the imaging device 105.

A second reference image can be captured by the person when standing at a second position next to the pillar 155 and pointing the imaging device 105 towards a second set of objects. The various line-of-sight visibility paths from this second position are indicated by dashed lines extending from the imaging device 105 to object 115 and object 145. Though not indicated by dashed lines, the imaging device 105 also has line-of-sight visibility paths from this second position to object 110, object 125, and object 140. Consequently, the second reference image includes images of object 110, object 125, object 140, object 115, and object 145. However, the second reference image does not include images of some other objects such as object 130, object 120, object 135, and object 150 due to the presence of intervening objects.

A third reference image can be captured by the person when standing at a third position further away from the pillar 155 and pointing the imaging device 105 towards a third set of objects. The various line-of-sight visibility paths from this third position are indicated by dashed lines extending from the imaging device 105 to object 135 and object 130. Though not indicated by dashed lines, the imaging device 105 also has line-of-sight visibility paths from the third position to object 110, object 125, and object 140. Consequently, the third reference image includes images of object 110, object 125, object 140, object 130, and object 135. However, the third reference image does not include images of some other objects such as object 115, object 120, object 145, and object 150 due to the presence of intervening objects.

A fourth reference image can be captured by the person when standing at a fourth position near the window 170 and pointing the imaging device 105 towards a fourth set of objects. The various line-of-sight visibility paths from this fourth position are indicated by dashed lines extending from the imaging device 105 to object 120 and object 115. Though not indicated by dashed lines, the imaging device 105 also has line-of-sight visibility paths from the fourth position to object 110, object 125, and object 140. Consequently, the fourth reference image includes images of object 110, object 125, object 140, object 120, and object 115. However, the fourth reference image does not include images of some other objects such as object 130, object 135, object 145, and object 150 due to the presence of intervening objects.

A fifth reference image can be captured by the person when standing at a fifth position near the door 165 and pointing the imaging device 105 towards a fifth set of objects. The various line-of-sight visibility paths from this fifth position are indicated by dashed lines extending from the imaging device 105 to object 115 and object 130. Though not indicated by dashed lines, the imaging device 105 also has line-of-sight visibility paths from the fifth position to object 120, object 135, and object 150. Consequently, the fifth reference image includes images of object 120, object 135, object 150, object 115, and object 130. However, the fifth reference image does not include images of some other objects such as object 110, object 125, object 140, and object 145 due to the presence of intervening objects.

Additional images can be captured by the person when standing at various other locations in the indoor facility 100 and at various line-of-sight angles. It must be understood that in various implementations, the imaging device 105 can be used to not only capture reference images at various azimuth angles but can also be used to capture reference images at various elevation angles (looking upwards at rack shelves for example, or looking downwards from an upper floor of the indoor facility 100 for example). In some exemplary implementations, an airborne machine such as an aerial drone can be used to capture the reference images, thereby providing aerial views of the various objects located in the indoor facility 100.

The reference images can be consolidated to generate a reference map of the locations of the various objects in the indoor facility 100. Accordingly, the reference map can provide information such as for example, line-of-sight visibility of one or more objects from the first location and a lack of line-of-sight visibility of some other objects from the first location, line-of-sight visibility of one or more objects from the second location and a lack of line-of-sight visibility of some other objects from the second location, and so on.

A database of the locations of the various objects in the indoor facility 100 can be generated and used in lieu of, or in addition to, the reference map. In one example implementation, the database can be generated by using an x-y grid mapping system to provide a floor plan that indicates the placement of the various objects on the floor of the indoor facility 100. For example, in such an x-y grid mapping system, a first corner 153 of the indoor facility 100 can be designated as having (0,0) coordinates, a second corner 151 of the indoor facility 100 can be designated as having (0,100) coordinates, a third corner 152 of the indoor facility 100 can be designated as having (100,100) coordinates, and a fourth corner 154 of the indoor facility 100 can be designated as having (100,0) coordinates. Consequently, it can be determined that object 140 is located at a coordinate location (35,10), for example, and this location information can be incorporated into the database.

In another example implementation, the database can be generated by using an x-y-z grid mapping system that not only provides a floor plan indicating placement of the various objects on the floor of the indoor facility 100 but further provides elevation information of one or more objects, such as a box placed upon an upper shelf of a rack.

In yet another example implementation, the database can be generated by using an existing item location system such as a library book locating system that helps in identifying the location of a particular book on a shelf.

Irrespective of the manner in which a reference map or a database is generated, an image that is subsequently captured by a user (using the imaging device 105, which can be a digital camera for example, or a different imaging device, which can be a smartphone for example) from any location in the indoor facility 100 can be interpreted using the reference map and/or the database to derive information of where the user/machine is located in the indoor facility 100 with respect to various objects. In one example implementation, the user of the imaging device 105 is a worker moving around the indoor facility 100 (a warehouse for example) looking to retrieve object 130 for example. The imaging device 105, independently or in cooperation with one or more other devices (such as a communication device used by a supervisor) can be used to identify a current location of the worker based on one or more images captured by the worker. The current location information can then be used to guide the worker to the object 130. In another example implementation, the imaging device 105 is mounted on an aerial drone and the reference map/database can be used to identify a current location of the drone based on images captured by the aerial drone while in flight. The current location information can then be used to pilot the aerial drone around obstacles and towards a desired destination in the indoor facility 100.

The imaging device 105 used for such operations can be a digital camera that captures images one image at a time, or a video camera that captures images in a video streaming format. The user location system, which can be a part of the imaging device 105 or can be a part of a different device, can operate in real-time to process images being sent from the still camera or the video camera in real-time.

FIG. 2 schematically depicts a user 205 of an imaging device 210 (which can be the imaging device 105) when using the imaging device 210 in accordance with an exemplary embodiment of the disclosure to capture one or more images of the objects located inside the indoor facility 100. A first image captured by the user 205 can include images of object 110, object 125, object 140, object 130, object 150, and object 145. The user location system, which can be a part of the imaging device 210 or can be a part of a different device, can use the reference map and/or the database to interpret the first image captured by the user 205 and inform the user 205 that he can move from his current location (next to the room 160) in a north-easterly direction between object 125 and object 140 in order to reach and retrieve object 130.

A second image captured by the user 205 can include images of object 110, object 125, object 140, object 115, and object 145. The user location system, can use the reference map to determine that the user 205 is located next to the pillar 155 and can further use the various reference images of the reference map to provide guidance to the user for moving towards object 150, even though object 150 is not visible in the second image.

A third image captured by the user 205 can be similarly used to guide the user 205 from a location next to the window 170 to the object 145 for example. A fourth image captured by the user 205 can be used to guide the user 205 from a location next to the door 165 to the object 115 or the object 140 for example.

FIG. 3 schematically depicts the imaging device 310 (which can be the imaging device 105) being used in accordance with the disclosure to capture one or more images of labels placed upon various objects arranged inside the indoor facility 100 in a first exemplary arrangement. The imaging device 310 can be first used by the user 205 to generate a reference map and/or a database (as described above with respect to FIG. 1) that includes data pertaining to the various labels. The imaging device 310 can be subsequently used by the user 205 to capture one or more images of the objects located inside the indoor facility 100 (as described above with respect to FIG. 2) in order to allow operation of the user location system. However, in contrast to the procedures described above with respect to FIGS. 1 and 2, the labels placed upon the various objects are used here to determine a current location of the user 205. The labels can be any one of various types of labels, such as a Universal Product Code (UPC) label.

In accordance with the disclosure, a label can have various kinds of information embedded in a barcode for example, and can be used by the user location system for determining a location of the imaging device 310 in the indoor facility 100 when the imaging device 310 is used to capture the first image. For example, a label 305 that is attached to object 125 can provide information that indicates a characteristic of the object 125 (size, weight etc.) and/or information pertaining to a shelf or rack where the object 125 is placed. In some implementations, the label 305 can include a unique tag value that can be used by the user location system to look up information pertaining to the object 125. Label 315 and label 320 can be used in the same manner as label 305.

FIG. 4 schematically depicts the imaging device 310 (which can be the imaging device 105) being used in accordance with the disclosure to capture one or more images of labels placed upon various objects arranged inside the indoor facility 100 in a second exemplary arrangement. In this second exemplary implementation, one or more objects are oriented at an angle with respect to the imaging device 310 when the imaging device 310 is being used by the user 205 standing near the pillar 155 for example. Consequently, label 305, which is directly in front of the user 205 may appear undistorted when reproduced in a captured image, whereas each of the label 405 and the label 410 can appear distorted due to the angular orientation of the object 110 and the object 140 with respect to the user 205. The nature of the distortion in each of the label 405 and the label 410 can be used to obtain information such as a dimension information and/or an orientation information (in addition to location information that may be embedded in the label).

In some implementations, the nature of the distortion in each of the label 405 and the label 410 can be assessed by using a polygon that represents an orientation and placement of each of these labels on the object 110 and the object 140 respectively. A distance between the imaging device 310 and the object 110 for example can be calculated by using one or more of a pixel size of the polygon, a radians-per-pixel parameter of the imaging device 310, and/or a physical size of the label 405 placed upon the object 110. In some implementations, a direction vector from the label 405 to the imaging device 310 can be used for obtaining two scalar values. The two scalar values can be used to determine an orientation of the label 405 on the imaging device 310 where an angle from normal can be indicative of a distortion in a reproduction of the label 405 in a captured image, and/or indicative of a direction in which the imaging device 310 is pointed. The direction in which the imaging device 310 is pointed can be calculated based on length dimensions of a parallelogram with respect to a known shape of the label 405. Label 410 can provide similar information (angular orientation information, distance information etc.) pertaining to the object 140.

FIGS. 5A-5C schematically depict some distortions in captured images of the label 305 in accordance with the disclosure. FIG. 5A illustrates an undistorted label 305, which is a rectangular UPC label in this example. The label 305 can be other than an UPC label and can have other shapes (square, oval, circular etc.) in other implementations. The imaging device 310 can be first used by the user 205 to generate a reference map and/or database as described above with respect to FIG. 1. The reference map and/or database can include in this embodiment, information about one or more of a predefined shape, a predefined size, a predefined orientation, and/or a predefined location information provided in the label 305. The user 205 can use the imaging device 310 to capture one or more images of the labels that are affixed to the objects located inside the indoor facility 100 (as described above with respect to FIG. 2) in order to allow operation of the user location system. The user 205 can ensure that the label 305 is visible to the imaging device 310 when capturing the one or more images. The user location system can detect a distortion of the rectangular shape of the label 305 in a captured image and determine the location of the imaging device 310 in the indoor facility 100 when used to capture the first image based at least in part on examining a nature and an extent of the distortion of the rectangular shape.

FIG. 5B shows a first type of distortion that can be present in the label 405 in one or more images captured by the imaging device 310. Such a distortion may occur when the imaging device 310 is being pointed downwards (from an upper floor of the indoor facility 100, for example) when capturing the image having the label 405. Accordingly, based on the polygonal shape of the label 405 shown in FIG. 5B, the user location system can determine that the user 205 is standing at a specific spot and facing a specific direction, on the upper floor with respect to the object 110. Location information of the object 110 on which label 405 is affixed and/or distance information from the imaging device 310, can be determined using one or more of the procedures described above with reference to FIG. 4.

FIG. 5C shows a second type of distortion that can be present in the label 405 in one or more images captured by the imaging device 310. Such a distortion may occur when the imaging device 310 is being pointed upwards (towards an upper shelf of a rack, for example) when capturing the image having the label 405. Accordingly, based on the polygonal shape of the label 405 shown in FIG. 5C, the user location system can determine that the user 205 is standing at a specific spot and facing a specific direction, next to a shelf on which the object 110 is placed. Location information of the object 110 on which label 405 is affixed and/or distance information from the imaging device 310, can be determined using one or more of the procedures described above with reference to FIG. 4.

FIG. 5D shows a third type of distortion that can be present in the label 405 for example, in one or more images captured by the imaging device 310. Such a distortion may occur when the object 110 is oriented at a lateral angle with respect to the imaging device 310 when capturing the image having the label 405. Accordingly, based on the polygonal shape of the label 405 shown in FIG. 5D, the user location system can determine that the user 205 is standing at a specific spot and facing a specific direction, on one side (the right side, for example) of the object 110. Location information of the object 110 on which label 405 is affixed and/or distance information from the imaging device 310, can be determined using one or more of the procedures described above with reference to FIG. 4.

FIG. 5E shows a fourth type of distortion that can be present in the label 410 in one or more images captured by the imaging device 310. Such a distortion may occur when the object 140 is oriented at a lateral angle with respect to the imaging device 310 and is located at an elevation with respect to the imaging device 310 when capturing the image having the label 410. Accordingly, based on the polygonal shape of the label 405 shown in FIG. 5E, the user location system can determine that the user 205 is standing at a specific spot and facing a specific direction, on one side (the left side, for example) and below the object 140. Location information of the object 140 on which label 410 is affixed and/or distance information from the imaging device 310, can be determined using one or more of the procedures described above with reference to FIG. 4.

FIG. 6 schematically depicts a user location system 600 that can be located in an imaging device 605 and/or in a cloud device 635 that is communicatively coupled to the imaging device 605. The imaging device 605 can be one of the imaging device 105, imaging device 210, or imaging device 310 described above. Generally, in terms of hardware architecture, imaging device 605 can include a processor 610, memory 620, one or more input/output (I/O) interface 615 (or peripherals), and a camera 625. These components are communicatively coupled to each other via a local interface 630, which can include address, control, and/or data connections to enable appropriate communications.

The processor 610 is a hardware device for executing software, particularly that stored in memory 620. The processor 610 can be any custom made or commercially available processor, a central processing unit (CPU), an auxiliary processor among several processors associated with the imaging device 605, a semiconductor based microprocessor (in the form of a microchip or chip set), a macroprocessor, or generally any device for executing software instructions.

The memory 620 can include any one or a combination of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, etc.)) and nonvolatile memory elements (a ROM for example). The memory 620 can have a distributed architecture, where various components are situated remote from one another, but can be accessed by the processor 610.

The software in memory 620 may include one or more separate programs, each of which comprises an ordered listing of executable instructions for implementing logical functions. In the example of FIG. 6, the software in the memory 620 includes the user location system 600 in accordance with the disclosure, and a suitable operating system (O/S) 621. The operating system 621 essentially controls the execution of computer programs, such as the user location system 600, and provides input-output control, file and data management, memory management, and communication control and related services.

User location system 600 may be implemented as a source program, an executable program (object code), a script, or any other entity comprising a set of instructions to be performed. When a source program, the program may be translated via a compiler, assembler, interpreter, or the like, which may or may not be included within the memory 620, so as to operate properly in connection with the O/S 621.

When the imaging device 605 is in operation, the processor 610 is configured to execute software stored within the memory 620, to communicate data to and from the memory 620, and to generally control operations of the imaging device 605 pursuant to the software. User location system 600 and the O/S 621, in whole or in part, but typically the latter, are read by the processor 610, perhaps buffered within the processor 610, and then executed.

When user location system 600 is implemented in software, it should be noted that the user location system 600 can be stored on any computer readable storage medium for use by or in connection with any computer related system or method. In the context of this disclosure, a computer readable storage medium is an electronic, magnetic, optical, or other physical device or means that can contain or store data and/or a computer program for use by or in connection with a computer related system or method.

The user location system 600 may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. In the context of this disclosure, a “non-transient computer-readable storage medium” or “non-transient computer-readable medium” can be any means that can store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

In an alternative embodiment, where the user location system 600 is implemented in hardware, the user location system 600 can implemented with any or a combination of the following technologies, which are each well known in the art: a discrete logic circuit(s) having logic gates for implementing logic functions upon data signals, an application specific integrated circuit (ASIC) having appropriate combinatorial logic gates, a programmable gate array(s) (PGA), or a field programmable gate array (FPGA).

The cloud device 635 can be a server computer for example that includes the user location system 600 and a database 636. The cloud device 635 can be communicatively coupled to the imaging device 105 via a network such as the Internet.

To supplement the present disclosure, this application incorporates entirely by reference the following commonly assigned patents, patent application publications, and patent applications:

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In the specification and/or figures, exemplary embodiments of the invention have been disclosed. The present disclosure is not limited to such exemplary embodiments. The use of the term “and/or” includes any and all combinations of one or more of the associated listed items. The figures are schematic representations and so are not necessarily drawn to scale. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation. 

The invention claimed is:
 1. A method comprising: generating a reference map comprising a reference image of a plurality of objects located in an indoor facility; processing the reference image to determine a first set of objects of the plurality of objects having a line-of-sight visibility from a location and a second set of objects of the plurality of objects having a lack of line-of-sight visibility from the location for providing information about one or more of a location, a dimension, and an orientation of one or more of the plurality of objects located in the indoor facility; capturing, by an imaging device, a first image, the first image comprising a first object among the plurality of objects located in the indoor facility; and comparing the first image to the reference image comprising the first object, wherein the first object is an object of the first set of objects to determine one or more of a location, a dimension, and an orientation of the first object to determine a first location of the imaging device, when the imaging device is used to capture the first image in the indoor facility.
 2. The method of claim 1, wherein the reference map is stored in at least one of the imaging device or a computer that is communicatively coupled to the imaging device, and wherein processing the first image is carried out in at least one of the imaging device or the computer.
 3. The method of claim 1, further comprising: based on determining the first location of the imaging device, providing an instruction to at least one of a user or the machine to travel from the first location to a second location corresponding to a second object, wherein the second object is an object from the second set of objects.
 4. The method of claim 1, wherein generating the reference map comprises using the imaging device to capture a set of reference images of the plurality of objects located in the indoor facility.
 5. The method of claim 1, wherein processing the first image comprises obtaining from a database, one or more of a location information, a dimension information, and an orientation information of the first object.
 6. The method of claim 1, wherein the reference map further comprises information about one or more of a predefined shape, a predefined size, a predefined orientation, and a predefined location of a label located on the first object, and wherein processing the first image to determine the first location of the one of the imaging device used to capture the first image in the indoor facility comprises: locating the label in the first image captured by the imaging device; identifying one or more characteristics of the label in the first image; and determining, based at least in part on the one or more characteristics of the label in the first image, a location of the imaging device in the indoor facility when used to capture the first image.
 7. The method of claim 6, wherein the predefined shape of the label is one of a square shape or a rectangle shape; wherein identifying the one or more characteristics of the label in the first image comprises detecting a distortion of the one of the square shape or the rectangle shape; and wherein determining the location of the imaging device in the indoor facility when used to capture the first image is based at least in part on examining a nature and an extent of the distortion of the one of the square shape or the rectangle shape.
 8. The method of claim 6, wherein the label comprises a barcode, and wherein processing the first image to determine the location of the imaging device in the indoor facility when used to capture the first image in the indoor facility further comprises: using information embedded in the barcode for determining in real-time, the location of the imaging device in the indoor facility when used to capture the first image.
 9. A method comprising: using an imaging device to capture an image of at least a first object among a plurality of objects located in an indoor facility; processing the image in cooperation with a reference map to determine a location, a dimension, and an orientation of the at least first object, the reference map comprising a reference images of the plurality of objects located in the indoor facility, wherein the reference image provides information about a first set of objects of the plurality of objects having a line-of-sight visibility from a location and a second set of objects of the plurality of objects having a lack of line-of-sight visibility from the location for providing information about one or more of a location, a dimension, and an orientation of each of the plurality of objects located in the indoor facility; and determining a location of the imaging device, based on the processing.
 10. The method of claim 9, wherein the reference map comprises one or more reference images of the plurality of objects located in the indoor facility, and wherein the reference map is stored in at least one of the imaging device or a computer that is communicatively coupled to the imaging device.
 11. The method of claim 9, wherein the reference map contains information about one or more of a predefined shape, a predefined size, a predefined orientation, and a predefined location of a label located on the first object, and wherein processing the image in cooperation with the reference map comprises: locating the label in the image captured by the imaging device; identifying one or more characteristics of the label in the image; and determining, based at least in part on the one or more characteristics of the label in the image, a location of the imaging device in the indoor facility.
 12. The method of claim 11, wherein the predefined shape of the label is one of a square shape or a rectangle shape; wherein identifying the one or more characteristics of the label in the image comprises detecting a distortion of the one of the square shape or the rectangle shape; and wherein determining the location of the imaging device in the indoor facility is based at least in part on examining a nature and an extent of the distortion of the one of the square shape or the rectangle shape.
 13. The method of claim 11, wherein the label comprises a barcode, and wherein processing the image to determine the location of the imaging device further comprises: using information embedded in the barcode for determining in real-time, the location of the imaging device in the indoor facility when capturing the image.
 14. The method of claim 9, wherein the first object is one of a fixed object or a relocatable object located in the indoor facility.
 15. A system comprising: a processor configured to: receive, from an imaging device, an image of at least a first object among a plurality of objects located in an indoor facility; process the image in cooperation with a reference map to determine a location, a dimension, and an orientation of the at least first object, the reference map comprising a reference images of the plurality of objects located in the indoor facility, wherein the reference image provides information about a first set of objects of the plurality of objects having a line-of-sight visibility from a location and a second set of objects of the plurality of objects having a lack of line-of-sight visibility from the location for providing information about one or more of a location, a dimension, and an orientation of each of the plurality of objects located in the indoor facility; and determine a location of the imaging device, based on the processing.
 16. The system of claim 15 wherein the reference map is stored in at least one of the imaging device or a computer that is communicatively coupled to the imaging device.
 17. The system of claim 15, wherein the reference map contains information about one or more of a predefined shape, a predefined size, a predefined orientation, and a predefined location of a label located on the first object, and wherein processing the image in cooperation with the reference map comprises: locating the label in the image captured by the imaging device; identifying one or more characteristics of the label in the image; and determining, based at least in part on the one or more characteristics of the label in the image, a location of the imaging device in the indoor facility.
 18. The system of claim 17, wherein the processor is further configured to: detect a distortion of the predefined shape of the label; and determine the location of the imaging device in the indoor facility based at least in part on examining a nature and an extent of the distortion.
 19. The system of claim 17, wherein the label comprises a barcode, and wherein the processor is further configured to: use information embedded in the barcode for determining in real-time, the location of the imaging device in the indoor facility when capturing the image. 